Provided are a distance measuring device using an impulse signal and a receiving device thereof. The distance measuring device includes: a transmitting device transmitting an impulse signal； and a receiving device receiving the impulse signal and measuring a time interval (hereinafter, referred to as a delay time) between a transmitting timing and a receiving timing of the impulse signal, wherein the receiving device measures the delay time through a Time to Digital Converter (TDC) technique. According to the present invention, the distance measuring device measures the distance accurately and speedly.
